com.kuka.roboticsAPI.geometricModel
Class ToolData

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.LoadData
      com.kuka.roboticsAPI.geometricModel.ToolData

Deprecated. use templates instead

@Deprecated
public class ToolData
extends LoadData

Holds tool data for an application tool.

ToolData are extended LoadDatas that bring in an additional name for the tool and a defaultMotionFrame offset relative to the base of the tool.

The Robotics API always assumes the translation part of transformations to be given in [mm].

Constructor Summary

ToolData(String name, double kilograms, ITransformation com, Inertia inertia, ITransformation baseCenterOffset)
Deprecated. Creates a new instance.

Method Summary

void	fill(ToolData newTool) Deprecated. Fills this tool with the data of the other tool.
AdditionalData	getAdditionalData() Deprecated. Gets the additional informations which are attachted to this tool.
Transformation	getBaseCenterOffset() Deprecated. Gets the base center offset of the tool from it's base to it's motion center.
String	getName() Deprecated. Gets the name of the tool data.
void	setBaseCenterOffset(ITransformation baseCenterOffset) Deprecated. Sets the base center offset of the tool from it's base to it's defaultMotionFrame.
void	setName(String newName) Deprecated. Sets the given name.

Methods inherited from class com.kuka.roboticsAPI.geometricModel.LoadData

equals, fill, getCenterOfMass, getInertia, getMass, hashCode, setCenterOfMass, setCenterOfMass, setInertia, setMass, toString

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

ToolData

public ToolData(String name,
                double kilograms,
                ITransformation com,
                Inertia inertia,
                ITransformation baseCenterOffset)

Deprecated.

Creates a new instance.

Parameters:

name - The name of the data.

kilograms - The kilograms.

com - Center of mass transformation from the base.

inertia - Inertia values.

baseCenterOffset - The offset from the tool base to the tool center.

Method Detail

getBaseCenterOffset

public Transformation getBaseCenterOffset()

Deprecated.

Gets the base center offset of the tool from it's base to it's motion center.

Returns:

The base center offset of the tool from it's base to it's motion center.

setBaseCenterOffset

public void setBaseCenterOffset(ITransformation baseCenterOffset)

Deprecated.

Sets the base center offset of the tool from it's base to it's defaultMotionFrame.

Parameters:

baseCenterOffset - The base center offset of the tool from it's base to it's defaultMotionFrame.

getName

public String getName()

Deprecated.

Gets the name of the tool data.

Returns:

The name of the tool data.

getAdditionalData

public AdditionalData getAdditionalData()

Deprecated.

Gets the additional informations which are attachted to this tool.

Returns:

The additional informations which are attachted to this tool.

setName

public void setName(String newName)

Deprecated.

Sets the given name.

Parameters:

newName - The new name of the tool data.

fill

public void fill(ToolData newTool)

Deprecated.

Fills this tool with the data of the other tool.

Parameters:

newTool - The other tool. null is not allowed.